Dynamic Testing of Space Manipulators

  • M. R. Kujath
  • U. O. Akpan
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)


The paper presents several aspects of the orbital environment that affect the dynamic testing of space manipulators and that are beyond the earthly engineering experience. Many of the dynamic parameters of space manipulators cannot be verified or identified on ground because of the effect the gravity has on the manipulator structure. The in-orbit testing, on the other hand, has to be limited to a very short time compared to ground based experiments. The paper outlines the scope of ground preparations that are necessary to assure that the in-orbit tests are successful. Then, it discusses an optimization procedure of the space experiments using modal parameter sensitivity.


Space Manipulator Space Experiment Observability Index Earth Diameter Kinematic Configuration 
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  1. 1.
    M. R. Kujath, W. B. Graham, Measurement System Testbed for the Robotic Evaluation and Characterization of the Space Station Remote Manipulator System, Cooperative intelligent robotics in space III, Boston, 16–18 Nov. 1992, SPIE vol. 1829, pp. 91–101.CrossRefGoogle Scholar
  2. 2.
    E. I. Rivin, Mechanical Design of Robots,McGraw-Hill Book Company,1987.Google Scholar
  3. 3.
    M. R. Kujath, U. O. Akpan, Optimization of Dynamic Testing of Space Manipulators, 12th International Model Analysis Conference (IMAC), Honolulu, Jan. 31- Feb. 3, 1994.Google Scholar
  4. 4.
    R. Sharp, P. C. Brooks, Sensitivities of frequency response functions of linear dynamic systems to variations in design parameter values, J. of Sound and Vibr., 1988 vol 126 (1) pp. 167–172.CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • M. R. Kujath
    • 1
  • U. O. Akpan
    • 1
  1. 1.Technical University of Nova ScotiaHalifaxCanada

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